A Detection System of Location and Direction Angle by a RF Tag Reader Using a Rotary Antenna

Asakawa, T.; Nishihara, Kazue; Yoshidome, Tadashi

doi:10.1299/kikaic.73.1494

Cited by 10 publications

(4 citation statements)

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“…However, because the position of the mobile unit was found by establishing a correspondence between the read tag ID and the embedded position, the precision could not be improved beyond the response range of the tags. In order to resolve this problem, Asakawa and colleagues mounted readers capable of rotation on the bottom of a robot, measured the direction to the tag based on the reader angle at which the tag could be read, and improved the precision of self-localization by direction-finding of several tags [2]. Kashu and colleagues attempted to improve performance by using the average of tag positions read at the same time by a multitag reader [3].…”

Section: Prior Research and The Purpose Of The Present Researchmentioning

confidence: 99%

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Self‐localization for mobile robots using RFID tags without layout information

Senta

Kimuro

Takarabe

et al. 2010

Electrical Engineering Japan

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SUMMARYThis paper proposes a method for mobile robot selflocalization by the use of a passive RFID system and Support Vector Machines (SVMs). The use of the SVM eliminates the need for laborious measurement of the geometric position of each RFID tag. Furthermore, the method works even when several malfunctioning tags are included. The ability of the method is confirmed in tests, and we conclude that the method performs well.

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Section: Prior Research and The Purpose Of The Present Researchmentioning

confidence: 99%

“…(3) A large number of robots with only readers installed perform self-localization using the relationships established in Step (2).…”

Section: Introductionmentioning

confidence: 99%

Self‐localization for mobile robots using RFID tags without layout information

Senta

Kimuro

Takarabe

et al. 2010

Electrical Engineering Japan

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“…Good initial estimated position and sufficient data are essential for accurate estimation. Another way to estimate the robot orientation with one antenna is to rotate the antenna with high speed on bottom of the robot and read the tags on the floor [9]. The system needs mechanical rotation mechanism and accurate tag reading system with high speed.…”

Section: Introductionmentioning

confidence: 99%

Mobile robot self localization based on multi-antenna-RFID reader and IC tag textile

Takahashi

Yuta

et al. 2013

2013 IEEE Workshop on Advanced Robotics and Its Social Impacts

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This paper presents a self-localization system using multiple RFID reader antennas and High-Frequency RFID-tag textile floor for an indoor autonomous mobile robot. Conventional self-localization systems often use vision sensors and/or laser range finders and an environment model. It is difficult to estimate the exact global location if the environment has number of places that have similar shape boundaries or small number of landmarks to localize. It tends to take a long time to recover the self-localization estimation if it goes wrong at once. Vision sensors work hard in dark lighting condition. Laser range finder often fails to detect distance to a transparent wall. In addition, the self-localization becomes unstable if obstacles occlude landmarks that are important to estimate position of the robot. Door opening and closing condition affects the selflocalization performance. Self-localization system based on reading RFID-tags on floor is robust against lighting condition, obstacles, furniture and doors conditions in the environment. Even if the arrangement of the obstacles or furniture in the environment is changed, it is not necessary to update the map for the self-localization. It can localize itself immediately and is free from well-known kidnapped robot problem because the RFID-tags give global position information. Conventional self-localization systems based on reading RFID-tags on floor often use only one RFID reader antenna and have difficulty of orientation estimation. We have developed a self-localization system using multiple RFID reader antennas and High-Frequency RFID-tag textile floor for an indoor autonomous mobile robot. Experimental results show the validity of the proposed methods.

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“…Environments where IC tags are installed on/under the floor have widely been adapted in the field of positioning studies using the RFID system [2][3] [4][5] [6]. There are some advantages to arranging tags on/under the floor.…”

Section: Introductionmentioning

confidence: 99%

Reader antennas' configuration effects for two wheeled robots on floor-installed RFID infrastructure - analysis of forward-backward configuration effect -

Kodaka

Sugano

2010

2010 IEEE/RSJ International Conference on Intelligent Robots and Systems

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Reader antennas' configuration for two wheeled robots were evaluated to estimate their posture from floorinstalled RFID tags. RFID systems where IC tags are installed under/on floors have widely been utilized in recent years as the next positioning infrastructure. The reader antennas should be properly placed on a robot so that such an environment can give full play to its potential capabilities of positioning the robot. This problem calls for guidelines in designing the configuration of reader antennas. Experiments using actual robots cannot offer sufficient data because of time and physical limitations, which prevent helpful and reproducible evaluations. We overcame this problem by constructing a simulation environment using a localization model and by evaluating the effects of configurations on positioning accuracy using computations. Of particular note, we found a "forward-backward configuration effect" from the results and had a detailed a discussion on how it occurred. Finally, a simple experiment using an actual robot validated the effect.

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A Detection System of Location and Direction Angle by a RF Tag Reader Using a Rotary Antenna

Cited by 10 publications

References 0 publications

Self‐localization for mobile robots using RFID tags without layout information

Self‐localization for mobile robots using RFID tags without layout information

Mobile robot self localization based on multi-antenna-RFID reader and IC tag textile

Reader antennas' configuration effects for two wheeled robots on floor-installed RFID infrastructure - analysis of forward-backward configuration effect -

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